Roger Mailler Daniel Bryce Jiaying Shen Ciaran O'Reilly MABLE: a framework for learning from natural instruction. 393-400 2009 AAMAS (1) http://doi.acm.org/10.1145/1558013.1558066 conf/atal/2009-1 db/conf/atal/aamas2009-1.html#MaillerBSO09